From 24042aceab14b4f5f081d1e3775a86a2e3945a53 Mon Sep 17 00:00:00 2001
From: Christian Eichmann <eichmann@fzi.de>
Date: Tue, 15 Feb 2022 10:36:47 +0100
Subject: [PATCH] Changed name of executable in launch files to match installed
 node

Signed-off-by: Christian Eichmann <eichmann@fzi.de>
---
 spacenav/CMakeLists.txt                   |  4 ----
 spacenav/launch/classic-launch.py         | 18 ++++++++++-----
 spacenav/launch/no_deadband-launch.py     | 25 +++++++++++++++------
 spacenav/launch/static_deadband-launch.py | 27 ++++++++++++++++-------
 4 files changed, 49 insertions(+), 25 deletions(-)

diff --git a/spacenav/CMakeLists.txt b/spacenav/CMakeLists.txt
index e2c5b819..1fd322f1 100644
--- a/spacenav/CMakeLists.txt
+++ b/spacenav/CMakeLists.txt
@@ -66,10 +66,6 @@ ament_export_dependencies(
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
 
-install(TARGETS spacenav
-  DESTINATION lib
-)
-
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   set(ament_cmake_copyright_FOUND TRUE)
diff --git a/spacenav/launch/classic-launch.py b/spacenav/launch/classic-launch.py
index 3dbb5ebe..eee121f6 100644
--- a/spacenav/launch/classic-launch.py
+++ b/spacenav/launch/classic-launch.py
@@ -30,9 +30,15 @@
 
 
 def generate_launch_description():
-    return LaunchDescription([
-        Node(package='spacenav', executable='spacenav',
-             name='spacenav', namespace='', output='screen',
-             parameters=[{'zero_when_static': True,
-                          'static_count_threshold': 30}]),
-    ])
+    return LaunchDescription(
+        [
+            Node(
+                package='spacenav',
+                executable='spacenav_node',
+                name='spacenav',
+                namespace='',
+                output='screen',
+                parameters=[{'zero_when_static': True, 'static_count_threshold': 30}],
+            ),
+        ]
+    )
diff --git a/spacenav/launch/no_deadband-launch.py b/spacenav/launch/no_deadband-launch.py
index 22d8e034..ef56fcad 100644
--- a/spacenav/launch/no_deadband-launch.py
+++ b/spacenav/launch/no_deadband-launch.py
@@ -30,10 +30,21 @@
 
 
 def generate_launch_description():
-    return LaunchDescription([
-        Node(package='spacenav', executable='spacenav',
-             name='spacenav', namespace='', output='screen',
-             parameters=[{'zero_when_static': False,
-                          'static_trans_deadband': 0.0,
-                          'static_rot_deadband': 0.0}]),
-    ])
+    return LaunchDescription(
+        [
+            Node(
+                package='spacenav',
+                executable='spacenav_node',
+                name='spacenav',
+                namespace='',
+                output='screen',
+                parameters=[
+                    {
+                        'zero_when_static': False,
+                        'static_trans_deadband': 0.0,
+                        'static_rot_deadband': 0.0,
+                    }
+                ],
+            ),
+        ]
+    )
diff --git a/spacenav/launch/static_deadband-launch.py b/spacenav/launch/static_deadband-launch.py
index 919a4f65..282c31ae 100644
--- a/spacenav/launch/static_deadband-launch.py
+++ b/spacenav/launch/static_deadband-launch.py
@@ -30,11 +30,22 @@
 
 
 def generate_launch_description():
-    return LaunchDescription([
-        Node(package='spacenav', executable='spacenav',
-             name='spacenav', namespace='', output='screen',
-             parameters=[{'zero_when_static': False,
-                          'static_count_threshold': 30,
-                          'static_trans_deadband': 40.0,
-                          'static_rot_deadband': 40.0}]),
-    ])
+    return LaunchDescription(
+        [
+            Node(
+                package='spacenav',
+                executable='spacenav_node',
+                name='spacenav',
+                namespace='',
+                output='screen',
+                parameters=[
+                    {
+                        'zero_when_static': False,
+                        'static_count_threshold': 30,
+                        'static_trans_deadband': 40.0,
+                        'static_rot_deadband': 40.0,
+                    }
+                ],
+            ),
+        ]
+    )